I searched for a while and finally go this fitness bench: Cap Barbell Fitness FID Bench.
I wanted one but did without for a long time. It was ok and there’s things you can do without it, but it was tougher.
I’ve only used it a couple times so far, but in both cases it was to do things that otherwise would be very tough or not really possible. I used it for situps w/ the back all the way down (to really get the lower abs) and incline bench w/ barbells.
It seems to be constructed well, doesn’t take up too much space, is sturdy and each to adjust. Also, the support bar at the leg-end can fold under easily if you need to put it in a closet when not in use.
I don’t use the little hooks underneath. It was a bit of a pain to put together as you might suspect, but that’s a one-time thing.